For the 3-DOF Industrial manipulator arm as shown in Figure 3, determinethe joint displacements for known position and orientation of the end of thearm point.0.0.Y1AY2 AY3X2X3212223YoxoFigure 3. 3 DOF RRR Industrial manipulator armThe link transformation matrices are given byC3 -S3 0 a3C3S3 C31C2 -S2 0 a,C2C1S1-S1-C1d1S2C22T3%3DT211111S1C\C2a3+C1a2C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2Szaz + d11OT3 == °T, 'T2 ?T3S½C3 + C2S3- S2S3 + C2C3

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Answered: For the 3-DOF Industrial manipulator…

For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine the joint displacements for known position and orientation of the end of the arm point.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

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Problem 1.1MA

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Concept explainers

Employment Opportunities

A monetary relationship, where one individual performs a set of services for another individual or organization under a mutual agreement and gets remunerated for providing such service, is said to be an employee. The individual who provides the services is known as an employee and the individual who pays for the service is known as an employer. In simple terms, the employee is said to have a job.

Question

For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine
the joint displacements for known position and orientation of the end of the
arm point.
0.
0.
Y1A
Y2 A
Y3
X2
X3
21
22
23
Yo
xo
Figure 3. 3 DOF RRR Industrial manipulator arm
The link transformation matrices are given by
C3 -S3 0 a3C3
S3 C3
1
C2 -S2 0 a,C2
C1
S1
-S1
-C1
d1
S2
C2
2T3
%3D
T2
1
1
1
1
1
S1
C\C2a3+C1a2
C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3
S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2
Szaz + d1
1
OT3 =
= °T, 'T2 ?T3
S½C3 + C2S3
- S2S3 + C2C3

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